<?xml version="1.0" ?>
<Manifest 
    xmlns="http://schemas.microsoft.com/xw/2004/10/manifest.html"
    xmlns:dssp="http://schemas.microsoft.com/xw/2004/10/dssp.html"
    xmlns:simcommon="http://schemas.microsoft.com/robotics/2006/04/simulation.html"
    xmlns:diffdrive="http://www.promrds.com/contracts/2007/11/hexapoddifferentialdrive.html"
    >
    <CreateServiceList>
        <ServiceRecordType>
            <dssp:Contract>http://www.promrds.com/contracts/2007/11/hexapodentity.html</dssp:Contract>
        </ServiceRecordType>
      
        <!-- Start simulated motor service -->
        <ServiceRecordType>
            <dssp:Contract>http://www.promrds.com/contracts/2007/11/hexapoddifferentialdrive.html</dssp:Contract>
            <dssp:Service>diffdrive:hexapoddifferentialdrive1</dssp:Service>
            <dssp:PartnerList>
                <dssp:Partner>
                    <!--The partner name must match the entity name-->
                    <dssp:Service>http://localhost/Hexapod1</dssp:Service>
                    <dssp:Name>simcommon:Entity</dssp:Name>
                </dssp:Partner>
            </dssp:PartnerList>
        
        </ServiceRecordType>

        <!-- Start simulated motor service -->
        <ServiceRecordType>
            <dssp:Contract>http://www.promrds.com/contracts/2007/11/hexapoddifferentialdrive.html</dssp:Contract>
            <dssp:Service>diffdrive:hexapoddifferentialdrive2</dssp:Service>
            <dssp:PartnerList>
                <dssp:Partner>
                    <!--The partner name must match the entity name-->
                    <dssp:Service>http://localhost/Hexapod2</dssp:Service>
                    <dssp:Name>simcommon:Entity</dssp:Name>
                </dssp:Partner>
            </dssp:PartnerList>
        </ServiceRecordType>

        <!-- Start the Dashboard service -->
        <ServiceRecordType>
            <dssp:Contract>http://schemas.microsoft.com/robotics/2006/01/simpledashboard.html</dssp:Contract>
        </ServiceRecordType>

    </CreateServiceList>
</Manifest>